CN112914729A - Intelligent auxiliary positioning bone surgery robot system and operation method thereof - Google Patents
Intelligent auxiliary positioning bone surgery robot system and operation method thereof Download PDFInfo
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 17
- 210000000988 bone and bone Anatomy 0.000 title claims description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 56
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 18
- 230000008569 process Effects 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000011017 operating method Methods 0.000 claims 1
- 230000000399 orthopedic effect Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/108—Computer aided selection or customisation of medical implants or cutting guides
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
The invention relates to an intelligent auxiliary positioning orthopedic surgery robot system and an operation method thereof, wherein the system comprises a robot, a control module for controlling the movement, coarse positioning and fine positioning of the robot, and terminal service equipment, wherein the robot comprises a base, a lifting mechanism, a lifting rod, a four-section arm, an operating bed, a camera, a touch screen, a torque sensor and a positioning mark assembly; the control module comprises a motion control module, a coarse positioning module and a fine positioning module; the terminal service equipment comprises a touch screen, an operation console, a real-time monitoring module and a result storage and output module. The intelligent auxiliary positioning orthopedic surgery robot system is high in intelligent degree, can realize the positioning and navigation functions in orthopedic surgery, is high in system precision, ensures the positioning accuracy through a mode of coarse positioning and fine positioning, and is used as an intelligent surgical tool to assist a doctor in completing surgery, so that the quality of the whole surgery is greatly assisted.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to an intelligent auxiliary positioning bone surgery robot system and an operation method thereof.
Background
Since the introduction of robots into the medical field, with the increasing level of technology, robotic-assisted surgery has become a focus of biomedical and robotic research. Robotic-assisted surgery has found application in many types of surgery due to its advantages of less trauma, shorter recovery time, more precise procedures, etc.
An orthopedic robot is a surgical robot. Early orthopaedic surgical robots are mainly active robots in order to achieve high-precision surgical operations, but with the deepening of clinical tests, doctors discovered that in a complex surgical operation environment, high automation does not bring sufficient safety guarantee to the surgical process, but rather brings great pressure to the psychology of the doctors, and then robots of several operation modes, such as passive robots, master-slave teleoperation robots, man-machine cooperation robots and the like, are gradually developed, so that the robots with high safety are expected to be achieved through real-time and direct intervention of the doctors on the robots. From the practical effect, the application requirement of the man-machine cooperation robot in the bone surgery is more obvious, the robot keeps the characteristics of high precision and high dexterity, a doctor has operation skill and decision-making capability, and the robot is used as an intelligent surgical tool to assist the doctor in completing the surgery.
Disclosure of Invention
The applicant provides an intelligent auxiliary positioning orthopedic surgery robot system with a reasonable structure and an operation method thereof aiming at the defects in the prior art, so that the intelligent auxiliary positioning is semi-autonomous, a doctor is assisted to complete the surgery, and the quality of the surgery is improved.
The technical scheme adopted by the invention is as follows:
an intelligent auxiliary positioning orthopedic surgery robot system comprises a robot, a control module and terminal service equipment, wherein the control module controls the robot to move, perform coarse positioning and perform fine positioning;
the robot has the structure that: the device comprises a base, wherein a lifting rod is arranged on the base through a lifting mechanism, a four-section type arm is rotatably arranged on the lifting rod, and a torque sensor and a positioning mark assembly are arranged at the terminal of the four-section type arm; a touch screen is installed at the top end of the lifting rod, and an operating bed is placed below the four-section arm; the camera is supported by a bracket outside the robot and is matched with the positioning mark assembly for use;
the control module comprises a motion control module, a coarse positioning module and a fine positioning module, and the motion control module controls the spatial motion of the four-section arm; the rough positioning module collects torque information of the torque sensor through the collection module and then transmits the torque information to the force control module, and the force control module converts the torque information into a robot coordinate system and outputs a speed command and a position increment command to the motion control module; the fine positioning module collects spatial information of the positioning mark assembly through the camera, converts the spatial information into coordinates and feeds the coordinates back to the motion control module.
As a further improvement of the above technical solution:
the structure of the four-section type arm is as follows: the lifting device comprises a large arm rotatably mounted on a lifting rod, wherein one end of the large arm is sleeved on the lifting rod and is rotatably connected with the lifting rod, and a small arm with a J-shaped structure is rotatably mounted on the bottom surface of the other end of the large arm; the top end of the small arm is rotatably arranged on the bottom surface of the large arm, the lower end of the small arm is rotatably provided with a rotary arm along the axial direction, the end part of the rotary arm is rotatably provided with a rotary arm, and the rotary arm swings up and down by taking the connecting position of the rotary arm and the rotary arm as the center; a positioning mark assembly is fixedly arranged on the circumferential wall surface of the rotating arm, and a torque sensor is fixedly arranged on the rotating arm in front of the positioning mark assembly; the end part of the rotating arm is provided with a hole which is used for clamping a surgical instrument and penetrates up and down.
The positioning mark assembly has the structure that: the four-section arm posture correcting device comprises a cross-shaped frame fixedly mounted with a four-section arm, light reflecting balls are fixedly mounted at four ends of the same side face of the cross-shaped frame, position information of the four light reflecting balls is collected by a camera and fed back to a fine positioning module, and the fine positioning module calculates to obtain the posture of the tail end of the four-section arm.
The same reflective balls are arranged on a human body on the operating bed, the position acquisition of the camera is combined, and the motion control module controls the tail end of the four-section arm to move and track to the position above the position to be operated through a visual matching algorithm.
The lifting mechanism has the structure that: the automatic feeding device comprises a support vertically arranged on a base, wherein a motor is arranged on the base positioned on the inner side of the support, the output end of the motor is connected and arranged with a screw rod through a belt transmission structure, and the end parts of the two ends of the screw rod are rotatably arranged at the top and the bottom of the inner side of the support; guide rails are symmetrically arranged on the supports positioned at the two sides of the screw rod, the two guide rails are jointly provided with a lifting block in a sliding way through a sliding block, and the lifting block is assembled with a screw pair of the screw rod through a nut; the top surface of the lifting block is fixedly installed with the bottom end of the lifting rod.
The motion control module comprises a motion module, a track planning module and a zero returning module; the motion module comprises DH parameters of a four-section arm of the robot, and controls the relative and absolute motion of the robot, the inching of each joint in the four-section arm and the inching of the tail end; the track planning module calculates and controls the path, time and speed of the robot which independently arrives according to the position coordinate information fed back by the fine positioning module; and the zero returning module controls the robot to return to the zero position.
The coarse positioning module comprises an A/D conversion module, an acquisition module and a force control module; the A/D module converts the analog voltage signal of the torque sensor into a digital quantity signal for the acquisition module to acquire and process; and after the force control module obtains the torque information fed back by the acquisition module and applied to the tail end of the robot, the torque information is subjected to overvoltage conversion and calibration, gravity compensation is carried out, and the torque information is converted into a robot coordinate system through tool coordinates.
The fine positioning module comprises an image acquisition module, a three-dimensional coordinate conversion module, an image positioning module and an image navigation module; the image acquisition module is electrically connected with the CT machine, acquires a three-dimensional CT image of the skeleton of the patient before operation, and acquires a two-dimensional X-ray image of the patient during operation; the three-dimensional coordinate conversion module converts the space information of the positioning mark assembly collected by the camera into three-dimensional space coordinate information of the robot and the patient; the image positioning module converts the three-dimensional space coordinate information of the three-dimensional coordinate conversion module into actual space coordinate information and feeds the actual space coordinate information back to the image navigation module; and the image navigation module displays the received space coordinate information on the touch screen in real time according to the pose relationship between the tail end of the robot and the patient.
The terminal service equipment comprises a touch screen, an operation console, a real-time monitoring module and a result storage and output module; the operation console is used for switching the motion modes of the robot through the motion control module; the real-time monitoring module is a camera and an external CT machine; and the result storage and output module stores or outputs the data of the whole surgical process.
The operation method of the intelligent auxiliary positioning bone surgery robot system comprises the following steps:
controlling a four-section type arm of the robot to return to an initial position through a touch screen and a motion control module;
force is applied to the tail end of the four-section arm, a collecting module in the coarse positioning module collects torque information of a torque sensor, a force control module converts the torque information into a speed command and a position increment command and feeds the speed command and the position increment command back to the motion control module, and the motion control module controls the actual motion of the four-section arm, so that the tail end of the four-section arm moves above the position to be operated along with the applied force, and the coarse positioning of the operation is completed;
acquiring a preoperative skeleton three-dimensional CT image and an intraoperative two-dimensional X-ray image through an image acquisition module in a fine positioning module, acquiring and calculating actual three-dimensional space coordinate information of a robot and a patient through a three-dimensional coordinate conversion module in the fine positioning module, and displaying the actual three-dimensional space coordinate information on a touch screen in real time; meanwhile, the tail end of the four-section arm is controlled by a track planning module in the motion control module to move to the position above the position to be operated accurately, so that the precise positioning of the operation is completed;
the surgical instrument is arranged at the tail end of the four-section arm, the robot supports the surgical instrument, and a person applies force to the tail end of the four-section arm to drag the four-section arm in real time to perform an operation.
The invention has the following beneficial effects:
the invention has compact and reasonable structure and convenient operation, forms a surgical robot system by the robot, the control module and the terminal service equipment, and realizes the accurate positioning of the surgery by a semi-autonomous coarse positioning and fine positioning mode; after the tail end of the four-section arm of the robot reaches the surgical position, a doctor enables an orthopedic surgical instrument to pass through a tail end hole of the rotating arm and then reach the orthopedic surgical position, the surgical position is kept by means of the four-section arm of the robot, and the surgical position cannot be changed due to hand shaking of the doctor, so that the surgical auxiliary function is completed; the multifunctional surgical instrument is used as an intelligent surgical tool, greatly assists a doctor in completing a surgery, and effectively guarantees the surgery quality;
drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Fig. 2 is a schematic structural diagram of the robot of the present invention.
Fig. 3 is a schematic structural diagram of the lifting mechanism and the four-section arm of the present invention.
Wherein: 1. a base; 2. a lifting mechanism; 3. a lifting rod; 4. a support; 5. a camera; 6. a touch screen; 7. a four-section arm; 8. a positioning mark assembly; 9. an operating bed; 21. a support; 22. a guide rail; 23. a lifting block; 24. a motor; 25. a screw rod; 26. a belt drive structure; 71. a large arm; 72. a small arm; 73. a swivel arm; 74. a torque sensor; 75. rotating the arm.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1, the intelligent auxiliary positioning bone surgery robot system of the embodiment includes a robot, a control module for controlling the movement, coarse positioning and fine positioning of the robot, and a terminal service device;
as shown in fig. 2, the robot has the following structure: the device comprises a base 1, wherein a lifting rod 3 is arranged on the base 1 through a lifting mechanism 2, a four-section type arm 7 is rotatably arranged on the lifting rod 3, and a torque sensor 74 and a positioning mark component 8 are arranged at the terminal of the four-section type arm 7; a touch screen 6 is arranged at the top end of the lifting rod 3, and an operating bed 9 is arranged below the four-section arm 7; the robot further comprises a camera 5 which is supported by a bracket 4 outside the robot and is matched with a positioning mark assembly 8 for use;
the control module comprises a motion control module, a coarse positioning module and a fine positioning module, and the motion control module controls the spatial motion of the four-section arm 7; the rough positioning module collects the torque information of the torque sensor 74 through the collection module and then transmits the torque information to the force control module, and the force control module converts the torque information into a robot coordinate system and outputs a speed command and a position increment command to the motion control module; the fine positioning module collects spatial information of the positioning mark assembly 8 through the camera 5, converts the spatial information into coordinates and feeds the coordinates back to the motion control module.
The robot, the control module and the terminal service equipment form a surgical robot system, and the accurate positioning of the surgery is realized through a semi-autonomous coarse positioning and fine positioning mode; after the tail end of the four-section arm 7 of the robot reaches the surgical position, a doctor enables an orthopedic surgical instrument to pass through a tail end hole of the rotating arm 75 and then reach the orthopedic surgical position, the surgical position is kept by means of the four-section arm 7 of the robot, the change of the surgical position due to hand shake of the doctor cannot occur, and therefore the surgical auxiliary function is completed.
As shown in fig. 3, the four-joint arm 7 has the following structure: the lifting device comprises a large arm 71 rotatably mounted on a lifting rod 3, one end of the large arm 71 is sleeved on the lifting rod 3 and is rotatably connected with the lifting rod, a small arm 72 with a J-shaped structure is rotatably mounted on the bottom surface of the other end of the large arm 71, and the rotation axes of the large arm 71 and the small arm 72 are parallel to the gravity direction; the top end of the small arm 72 is rotatably arranged on the bottom surface of the large arm 71, the lower end of the small arm 72 is rotatably provided with a rotary arm 73 along the axial direction, the end part of the rotary arm 73 is rotatably provided with a rotary arm 75, and the rotary arm 75 swings up and down by taking the joint position of the rotary arm 75 and the rotary arm 73 as the center; the rotation axes of the rotation arm 73 and the rotation arm 75 are perpendicular to each other and perpendicular to the direction of gravity; a positioning mark component 8 is fixedly arranged on the circumferential wall surface of the rotating arm 75, and a torque sensor 74 is fixedly arranged on the rotating arm 75 positioned in front of the positioning mark component 8; the end part of the rotating arm 75 is provided with a hole which is used for clamping a surgical instrument and penetrates up and down; through the lifting of the lifting rod 3 and the rotation of the large arm 71, the small arm 72, the rotary arm 73 and the rotating arm 75, the tail end of the rotating arm 75 can reach any position required by the operation, the space utilization rate is good, and the realization of the operation positioning function is effectively assisted by the power. When the robot is coarsely positioned and dragged, the height of the large arm 71 and the height of the small arm 72 relative to the ground are set to be unchanged, potential safety hazards to patients on the operating bed 9 below cannot be brought in the process of dragging at will, and the safety of an operation is guaranteed.
The positioning and marking assembly 8 has the structure that: the four-section type arm positioning device comprises a cross-shaped frame fixedly mounted with a four-section type arm 7, light reflecting balls are fixedly mounted at four ends of the same side face of the cross-shaped frame, a camera 5 collects position information of the four light reflecting balls and feeds the position information back to a fine positioning module, and the pose of the tail end of the four-section type arm 7 is obtained through calculation of the fine positioning module.
The same reflective balls are arranged on the human body on the operating bed 9, the position acquisition of the camera 5 is combined, and the movement of the tail end of the four-section arm 7 is controlled by the motion control module to move and track to the position above the position to be operated through a visual matching algorithm.
The lifting mechanism 2 has the structure that: the device comprises a support 21 vertically arranged on a base 1, wherein a motor 24 is arranged on the base 1 positioned on the inner side of the support 21, the output end of the motor 24 is connected and provided with a screw rod 25 through a belt transmission structure 26, and the end parts of the two ends of the screw rod 25 are rotatably arranged at the top and the bottom of the inner side of the support 21; guide rails 22 are symmetrically arranged on the support 21 positioned on two sides of the screw rod 25, the two guide rails 22 are jointly provided with a lifting block 23 in a sliding manner through a sliding block, and the lifting block 23 is assembled with the screw rod 25 in a screw pair mode through a nut; the top surface of the lifting block 23 is fixedly arranged with the bottom end of the lifting rod 3.
The motion control module comprises a motion module, a track planning module and a zero returning module; the motion module comprises DH parameters of the four-section arm 7 of the robot, and controls the relative and absolute motion of the robot, the inching of each joint in the four-section arm 7 and the inching of the tail end; the trajectory planning module calculates and controls the path, time and speed of the robot which autonomously arrives according to the position coordinate information fed back by the fine positioning module; and the zero returning module controls the robot to return to the zero position.
The coarse positioning module comprises an A/D conversion module, an acquisition module and a force control module; the A/D module converts the analog voltage signal of the torque sensor 74 into a digital quantity signal for the acquisition module to acquire and process; and after the force control module obtains the torque information fed back by the acquisition module and applied to the tail end of the robot, the torque information is subjected to overvoltage conversion and calibration, gravity compensation is carried out, and the torque information is converted into a robot coordinate system through tool coordinates.
The fine positioning module comprises an image acquisition module, a three-dimensional coordinate conversion module, an image positioning module and an image navigation module; the image acquisition module is electrically connected with the CT machine, acquires a three-dimensional CT image of the skeleton of the patient before operation, and acquires a two-dimensional X-ray image of the patient during operation; the three-dimensional coordinate conversion module converts the space information of the positioning mark assembly 8 acquired by the camera 5 into three-dimensional space coordinate information of the robot and the patient; the image positioning module converts the three-dimensional space coordinate information of the three-dimensional coordinate conversion module into actual space coordinate information and feeds the actual space coordinate information back to the image navigation module; the image navigation module displays the received space coordinate information on the touch screen 6 in real time according to the pose relationship between the tail end of the robot and the patient.
The terminal service equipment comprises a touch screen 6, an operation console, a real-time monitoring module and a result storage and output module; the operation console is used for switching the motion modes of the robot through the motion control module; the real-time monitoring module comprises a camera 5 and an external CT machine; and the result storage and output module stores or outputs the data of the whole surgical process.
The operation method of the intelligent auxiliary positioning bone surgery robot system comprises the following steps:
controlling a four-section type arm 7 of the robot to return to an initial position through a touch screen 6 through a motion control module;
force is applied to the tail end of the four-section arm 7, the acquisition module in the coarse positioning module acquires torque information of the torque sensor 74, the force control module converts the torque information into a speed command and a position increment command and feeds the speed command and the position increment command back to the motion control module, and the motion control module controls the actual motion of the four-section arm 7, so that the tail end of the four-section arm 7 moves to the position above the position to be operated along with the applied force, and the coarse positioning of the operation is completed;
acquiring a preoperative skeleton three-dimensional CT image and an intraoperative two-dimensional X-ray image through an image acquisition module in a fine positioning module, acquiring and calculating actual three-dimensional space coordinate information of a robot and a patient through a three-dimensional coordinate conversion module in the fine positioning module, and displaying the actual three-dimensional space coordinate information on a touch screen 6 in real time through an image navigation module; meanwhile, the tail end of the four-section arm 7 is controlled by a track planning module in the motion control module to move to the position above the position to be operated accurately, so that the precise positioning of the operation is completed;
the surgical instrument is arranged at the tail end of the four-section arm 7, the robot supports the surgical instrument, and a person applies force to the tail end of the four-section arm 7 to drag the surgical instrument in real time to perform an operation.
The semi-autonomous intelligent auxiliary positioning system is used as an intelligent surgical tool to greatly assist a doctor in completing a surgery through semi-autonomous intelligent auxiliary positioning, and the surgery quality is effectively guaranteed.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (10)
1. The utility model provides an intelligence assistance-localization real-time bone surgery robot system which characterized in that: the system comprises a robot, a control module for controlling the motion, coarse positioning and fine positioning of the robot, and terminal service equipment;
the robot has the structure that: the device comprises a base (1), wherein a lifting rod (3) is arranged on the base (1) through a lifting mechanism (2), a four-section type arm (7) is rotatably arranged on the lifting rod (3), and a torque sensor (74) and a positioning mark assembly (8) are arranged at the terminal of the four-section type arm (7); a touch screen (6) is installed at the top end of the lifting rod (3), and an operating bed (9) is placed below the four-section arm (7); the robot is characterized by further comprising a camera (5) which is supported by a bracket (4) outside the robot and is matched with the positioning mark assembly (8) for use;
the control module comprises a motion control module, a coarse positioning module and a fine positioning module, and the motion control module controls the spatial motion of the four-section arm (7); the rough positioning module collects torque information of a torque sensor (74) through a collection module and then transmits the torque information to the force control module, and the force control module converts the torque information into a robot coordinate system and outputs a speed command and a position increment command to the motion control module; the fine positioning module collects spatial information of the positioning mark assembly (8) through the camera (5), converts the spatial information into coordinates and feeds the coordinates back to the motion control module.
2. The intelligent assisted positioning orthopaedic surgical robotic system of claim 1, wherein: the structure of the four-section type arm (7) is as follows: the lifting device comprises a large arm (71) rotatably mounted on a lifting rod (3), one end of the large arm (71) is sleeved on the lifting rod (3) and is rotatably connected with the lifting rod, and a small arm (72) of a J-shaped structure is rotatably mounted on the bottom surface of the other end of the large arm (71); the top end of the small arm (72) is rotatably arranged on the bottom surface of the large arm (71), the lower end of the small arm (72) is rotatably provided with a rotary arm (73) along the axial direction, the end part of the rotary arm (73) is rotatably provided with a rotating arm (75), and the rotating arm (75) swings up and down by taking the connecting position of the rotating arm and the rotary arm (73) as the center; a positioning mark component (8) is fixedly arranged on the circumferential wall surface of the rotating arm (75), and a torque sensor (74) is fixedly arranged on the rotating arm (75) positioned in front of the positioning mark component (8); the end part of the rotating arm (75) is provided with a hole which is used for clamping a surgical instrument and penetrates through the rotating arm up and down.
3. The intelligent assisted positioning orthopaedic surgical robot system of claim 1 or 2, wherein: the positioning mark assembly (8) is structurally characterized in that: the device comprises a cross-shaped frame fixedly mounted with a four-section type arm (7), wherein four ends of the same side surface of the cross-shaped frame are fixedly provided with light reflecting balls, a camera (5) collects position information of the four light reflecting balls and feeds the position information back to a fine positioning module, and the pose of the tail end of the four-section type arm (7) is obtained through calculation of the fine positioning module.
4. The intelligent assisted positioning orthopaedic surgical robotic system of claim 3, wherein: the same reflective balls are arranged on a human body on the operating bed (9), the position acquisition of the camera (5) is combined, and the motion control module controls the tail end of the four-section arm (7) to move and track to the position above the position to be operated through a vision matching algorithm.
5. The intelligent assisted positioning orthopaedic surgical robotic system of claim 1, wherein: the lifting mechanism (2) is structurally characterized in that: the device comprises a support (21) vertically arranged on a base (1), wherein a motor (24) is arranged on the base (1) positioned on the inner side of the support (21), the output end of the motor (24) is connected and provided with a screw rod (25) through a belt transmission structure (26), and the end parts of the two ends of the screw rod (25) are rotatably arranged at the top and the bottom of the inner side of the support (21); guide rails (22) are symmetrically arranged on the supports (21) positioned on two sides of the screw rod (25), the two guide rails (22) are jointly provided with a lifting block (23) in a sliding mode through a sliding block, and the lifting block (23) is assembled with the screw rod (25) in a screw pair mode through nuts; the top surface of the lifting block (23) is fixedly installed with the bottom end of the lifting rod (3).
6. The intelligent assisted positioning orthopaedic surgical robotic system of claim 1, wherein: the motion control module comprises a motion module, a track planning module and a zero returning module; the motion module comprises DH parameters of a four-section type arm (7) of the robot, and controls the relative and absolute motion of the robot, and the inching of each joint and the inching of the tail end in the four-section type arm (7); the track planning module calculates and controls the path, time and speed of the robot which independently arrives according to the position coordinate information fed back by the fine positioning module; and the zero returning module controls the robot to return to the zero position.
7. The intelligent assisted positioning orthopaedic surgical robotic system of claim 1, wherein: the coarse positioning module comprises an A/D conversion module, an acquisition module and a force control module; the A/D module converts an analog voltage signal of the torque sensor (74) into a digital quantity signal for the acquisition module to acquire and process; and after the force control module obtains the torque information fed back by the acquisition module and applied to the tail end of the robot, the torque information is subjected to overvoltage conversion and calibration, gravity compensation is carried out, and the torque information is converted into a robot coordinate system through tool coordinates.
8. The intelligent assisted positioning orthopaedic surgical robotic system of claim 1, wherein: the fine positioning module comprises an image acquisition module, a three-dimensional coordinate conversion module, an image positioning module and an image navigation module; the image acquisition module is electrically connected with the CT machine, acquires a three-dimensional CT image of the skeleton of the patient before operation, and acquires a two-dimensional X-ray image of the patient during operation; the three-dimensional coordinate conversion module converts the space information of the positioning mark assembly (8) collected by the camera (5) into three-dimensional space coordinate information of the robot and the patient; the image positioning module converts the three-dimensional space coordinate information of the three-dimensional coordinate conversion module into actual space coordinate information and feeds the actual space coordinate information back to the image navigation module; the image navigation module displays the received space coordinate information on the touch screen (6) in real time according to the pose relation between the tail end of the robot and the patient.
9. The intelligent assisted positioning orthopaedic surgical robotic system of claim 1, wherein: the terminal service equipment comprises a touch screen (6), an operation console, a real-time monitoring module and a result storage and output module; the operation console is used for switching the motion modes of the robot through the motion control module; the real-time monitoring module is a camera (5) and an external CT machine; and the result storage and output module stores or outputs the data of the whole surgical process.
10. An operating method of the intelligent auxiliary positioning bone surgery robot system according to claim 1, characterized in that: the method comprises the following steps:
the four-section type arm (7) of the robot is controlled to return to the initial position through the touch screen (6) through the motion control module;
force is applied to the tail end of the four-section arm (7), a collecting module in the coarse positioning module collects torque information of a torque sensor (74), a force control module converts the torque information into a speed command and a position increment command and feeds the speed command and the position increment command back to the motion control module, and the motion control module controls the actual motion of the four-section arm (7), so that the tail end of the four-section arm (7) moves to the position above the position to be operated along with the applied force to complete coarse positioning of the operation;
acquiring a preoperative skeleton three-dimensional CT image and an intraoperative two-dimensional X-ray image through an image acquisition module in the fine positioning module, acquiring and calculating actual three-dimensional space coordinate information of the robot and the patient through a three-dimensional coordinate conversion module in the fine positioning module, and displaying the actual three-dimensional space coordinate information on a touch screen (6) in real time; meanwhile, the tail end of the four-section arm (7) is controlled by a track planning module in the motion control module to move to the position above the position to be operated accurately, so that the precise positioning of the operation is completed;
the surgical instrument is arranged at the tail end of the four-section arm (7), the robot supports the surgical instrument, and a person applies force to the tail end of the four-section arm (7) to drag the surgical instrument in real time to perform an operation.
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